A VPN? Yes, by definition. Zero trust requires that every connection is authenticated and users are only granted access to the app they request. They never “connect to the network” - something brokers that connection to the app in question.
VPN puts a user on the network and allows a bad actor to move laterally through the network.
It doesn't have to. There's nothing to stop you using a VPN as an initial filter to reduce the number of people who have access to a network and then properly authenticating and authorizing all access to services after that.
In fact, I'd say is a good defence-in-depth approach, which comes at the cost of increased complexity.